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<?xml version="1.0" ?>
<skel version="1.0">
<world name="world 1">
<physics>
<time_step>0.001</time_step>
<gravity>0 -9.81 0</gravity>
</physics>
<skeleton name="skeleton 1">
<body name="link 1">
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<transformation>0 0 0 0 0 0</transformation>
<inertia>
<mass>0.1</mass>
<offset>0 0 0</offset>
</inertia>
<visualization_shape>
<geometry>
<box>
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</box>
</geometry>
<color>0.95 0.0 0.0</color>
</visualization_shape>
</body>
<body name="link 2">
<gravity>1</gravity>
<transformation>0 -0.05 0 0 0 0</transformation>
<inertia>
<mass>0.1</mass>
<offset>0 0 0</offset>
</inertia>
<visualization_shape>
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<box>
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</box>
</geometry>
</visualization_shape>
</body>
<body name="link 3">
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<inertia>
<mass>0.1</mass>
<offset>0 0 0</offset>
</inertia>
<visualization_shape>
<geometry>
<box>
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</box>
</geometry>
</visualization_shape>
</body>
<body name="link 4">
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<mass>0.1</mass>
<offset>0 0 0</offset>
</inertia>
<visualization_shape>
<geometry>
<box>
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</box>
</geometry>
</visualization_shape>
</body>
<body name="link 5">
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<visualization_shape>
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<body name="link 6">
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<body name="link 7">
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<body name="link 8">
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<body name="link 9">
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<box>
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<body name="link 10">
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<box>
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</body>
<joint type="free" name="joint 1">
<parent>world</parent>
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</joint>
<joint type="ball" name="joint 2">
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<joint type="ball" name="joint 3">
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<joint type="ball" name="joint 4">
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</joint>
<joint type="ball" name="joint 5">
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</joint>
<joint type="ball" name="joint 6">
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<child>link 6</child>
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</joint>
<joint type="ball" name="joint 7">
<parent>link 6</parent>
<child>link 7</child>
<transformation>0 0.025 0 0 0 0</transformation>
</joint>
<joint type="ball" name="joint 8">
<parent>link 7</parent>
<child>link 8</child>
<transformation>0 0.025 0 0 0 0</transformation>
</joint>
<joint type="ball" name="joint 9">
<parent>link 8</parent>
<child>link 9</child>
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</joint>
<joint type="ball" name="joint 10">
<parent>link 9</parent>
<child>link 10</child>
<transformation>0 0.025 0 0 0 0</transformation>
</joint>
</skeleton>
</world>
</skel>
|
